#ifndef _MAHONY_FILTER_H
#define _MAHONY_FILTER_H


#define	Kp			15.0f		//????
#define	Ki			0.005f	//????
#define	halfT		0.001f	//???????

#define DEG2RAD  	0.017453293f //????p/180 
#define RAD2DEG  	57.29578f    //????180/p 
#define PI				3.141592654f

//?????????????????
typedef struct 
{
	float x;
	float y;
	float z;
}Float_XYZ;


//???????
typedef struct 
{
	float pitch;	//???
	float roll;		//???
	float yaw;		//???
}Float_Angle;



void Get_IMU_Date(Float_XYZ* gyro, Float_XYZ* acc);//??IMU????
void IMU_Update(Float_XYZ* Gyro, Float_XYZ* Acc, Float_Angle* Angle);//????

#endif